02136nas a2200217   4500008004100000020001400041245010700055210006900162260000900231300001200240490000600252520136300258100002301621700002601644700001901670700002401689700002001713700002301733700002101756856014101777       2006                        eng d  a1538-472100aRobotically assisted prostate brachytherapy with transrectal ultrasound guidance - Phantom experiments0 aRobotically assisted prostate brachytherapy with transrectal ult  c2006  a14 - 260 v53 aPURPOSE: To report the preliminary experimental results obtained with a robot-assisted transrectal ultrasound (TRUS)-guided prostate brachytherapy system. METHODS AND MATERIALS: The system consists of a TRUS unit, a spatially coregistered needle insertion robot, and an FDA-approved treatment planning and image-registered implant system. The robot receives each entry/target coordinate pair of the implant plan, inserts a preloaded needle, and then the seeds are deposited. The needles/sources are tracked in TRUS, thus allowing the plan to be updated as the procedure progresses. RESULTS: The first insertion attempt was recorded for each needle, without adjustment. All clinically relevant locations were reached in a prostate phantom. Nonparallel and parallel needle trajectories were demonstrated. Based on TRUS, the average transverse placement error was 2 mm (worst case 2.5 mm, 80% less than 2 mm), and the average sagittal error was 2.5 mm (worst case 5.0 mm, 70% less than 2.5 mm). CONCLUSIONS: The concept and technical viability of robot-assisted brachytherapy were demonstrated in phantoms. The kinematically decoupled robotic assistant device is inherently safe. Overall performance was promising, but further optimization is necessary to prove the possibility of improved dosimetry. © 2006 American Brachytherapy Society. All rights reserved.1 aFichtinger, Gábor1 aBurdette, Everette, C1 aTanacs, Attila1 aPatriciu, Alexandru1 aMazilu, Dumitru1 aWhitcomb, Louis, L1 aStoianovici, Dan  uhttps://inf.u-szeged.hu/publication/robotically-assisted-prostate-brachytherapy-with-transrectal-ultrasound-guidance-phantom-experiments